西安php网站建设专家,如何设置网站布局,网上的网站模板怎么下载,重庆搜索引擎优化程序示例精选 VSQTPCL点云显示转网格表面体窗体实现 如需安装运行环境或远程调试#xff0c;见文章底部个人QQ名片#xff0c;由专业技术人员远程协助#xff01; 前言
这篇博客针对VSQTPCL点云显示转网格表面体窗体实现编写代码#xff0c;代码整洁… 程序示例精选 VSQTPCL点云显示转网格表面体窗体实现 如需安装运行环境或远程调试见文章底部个人QQ名片由专业技术人员远程协助 前言
这篇博客针对VSQTPCL点云显示转网格表面体窗体实现编写代码代码整洁规则易读。 学习与应用推荐首选。 文章目录
一、所需工具软件
二、使用步骤 1. 引入库 2. 代码实现 3. 运行结果
三、在线协助 一、所需工具软件
1. VS, Qt
2. PCL 二、使用步骤
1.引入库
#ifndef CLOUDVIEWER_H
#define CLOUDVIEWER_H
#include MyCloud.h
#include pcl/io/pcd_io.h
#include pcl/io/ply_io.h
#include pcl/io/vtk_io.h
#include pcl/io/obj_io.h
#include pcl/io/vtk_lib_io.h // loadPolygonFileOBJ#include pcl/point_types.h
#include pcl/point_cloud.h
#include pcl/visualization/pcl_visualizer.h
#include pcl/visualization/common/common.h
#include pcl/ModelCoefficients.h
#include pcl/PolygonMesh.h#include QtWidgets/QMainWindow
#include GBK.h
#include ui_CloudViewer.h
#include AboutWin.h
#include Tools.h
#include MeshProcessing.h
#include FileIO.h#include vector
#include map
#include algorithm
#include QtWidgets/QMainWindow
#include QString
#include QDebug
#include QLabel
#include QMessageBox
#include QAction
#include QMenu
#include QMenuBar
#include QToolBar
#include QStatusBar
#include QFileDialog
#include QColorDialog
#include QHBoxLayout
#include QVBoxLayout
#include QVTKWidget.h
#include vtkRenderWindow.h2. 代码实现
代码如下:
#include CloudViewer.hCloudViewer::CloudViewer(QWidget* parent): QMainWindow(parent) {ui.setupUi(this);/***** Slots connection of QMenuBar and QToolBar *****/// File (connect)QObject::connect(ui.openAction, QAction::triggered, this, CloudViewer::open);QObject::connect(ui.addAction, QAction::triggered, this, CloudViewer::add);QObject::connect(ui.clearAction, QAction::triggered, this, CloudViewer::clear);ui.saveAction-setData(QVariant(false)); // isSaveBinary falseui.saveBinaryAction-setData(QVariant(true)); // isSaveBinary trueconnect(ui.saveAction, SIGNAL(triggered()), this, SLOT(save()));connect(ui.saveBinaryAction, SIGNAL(triggered()), this, SLOT(save()));QObject::connect(ui.exitAction, QAction::triggered, this, CloudViewer::exit);// Display (connect)QObject::connect(ui.pointcolorAction, QAction::triggered, this, CloudViewer::pointcolorChanged);QObject::connect(ui.bgcolorAction, QAction::triggered, this, CloudViewer::bgcolorChanged);QObject::connect(ui.mainviewAction, QAction::triggered, this, CloudViewer::mainview);QObject::connect(ui.leftviewAction, QAction::triggered, this, CloudViewer::leftview);QObject::connect(ui.topviewAction, QAction::triggered, this, CloudViewer::topview);// Generate (connect)QObject::connect(ui.cubeAction, QAction::triggered, this, CloudViewer::cube);QObject::connect(ui.sphereAction, QAction::triggered, this, CloudViewer::createSphere);QObject::connect(ui.cylinderAction, QAction::triggered, this, CloudViewer::createCylinder);// Process (connect)QObject::connect(ui.meshsurfaceAction, QAction::triggered, this, CloudViewer::convertSurface);QObject::connect(ui.wireframeAction, QAction::triggered, this, CloudViewer::convertWireframe);// Option (connect)ui.windowsThemeAction-setData(QVariant(CLOUDVIEWER_THEME_WINDOWS));ui.darculaThemeAction-setData(QVariant(CLOUDVIEWER_THEME_DARCULA));ui.englishAction-setData(QVariant(CLOUDVIEWER_LANG_ENGLISH));ui.chineseAction-setData(QVariant(CLOUDVIEWER_LANG_CHINESE));connect(ui.windowsThemeAction, SIGNAL(triggered()), this, SLOT(changeTheme()));connect(ui.darculaThemeAction, SIGNAL(triggered()), this, SLOT(changeTheme()));connect(ui.englishAction, SIGNAL(triggered()), this, SLOT(changeLanguage()));connect(ui.chineseAction, SIGNAL(triggered()), this, SLOT(changeLanguage()));// About (connect)QObject::connect(ui.aboutAction, QAction::triggered, this, CloudViewer::about);QObject::connect(ui.helpAction, QAction::triggered, this, CloudViewer::help);/***** Slots connection of RGB widget *****/// Random color (connect)connect(ui.colorBtn, SIGNAL(clicked()), this, SLOT(colorBtnPressed()));// Connection between RGB slider and RGB value (connect)connect(ui.rSlider, SIGNAL(valueChanged(int)), this, SLOT(rSliderChanged(int)));connect(ui.gSlider, SIGNAL(valueChanged(int)), this, SLOT(gSliderChanged(int)));connect(ui.bSlider, SIGNAL(valueChanged(int)), this, SLOT(bSliderChanged(int)));// RGB slider released (connect)connect(ui.rSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));connect(ui.gSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));connect(ui.bSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));// Change size of cloud (connect)//connect(ui.pSlider, SIGNAL(valueChanged(int)), ui.sizeLCD, SLOT(display(int)));connect(ui.pSlider, SIGNAL(valueChanged(int)), this, SLOT(pSliderChanged(int)));}void CloudViewer::test22()
{std::cout test_ std::endl;}CloudViewer::~CloudViewer() {}void CloudViewer::doOpen(const QStringList filePathList) {// Open point cloud file one by onefor (int i 0; i ! filePathList.size(); i) {timeStart(); // time startmycloud.cloud.reset(new PointCloudT); // Reset cloudQFileInfo fileInfo(filePathList[i]);std::string filePath fromQString(fileInfo.filePath());std::string fileName fromQString(fileInfo.fileName());// begin loadingui.statusBar-showMessage(fileInfo.fileName() : QString::number(i) / QString::number(filePathList.size()) point cloud loading...);mycloud fileIO.load(fileInfo);if (!mycloud.isValid) {// TODO: deal with the error, print error info in console?debug(invalid cloud.);continue;}mycloud.viewer viewer;mycloud_vec.push_back(mycloud);timeCostSecond timeOff(); // time offconsoleLog(Open,toQString(mycloud.fileName),toQString(mycloud.filePath),Time cost: timeCostSecond s, Points: QString::number(mycloud.cloud-points.size()));// update tree widgetQTreeWidgetItem* cloudName new QTreeWidgetItem(QStringList() toQString(mycloud.fileName));cloudName-setIcon(0, QIcon(:/Resources/images/icon.png));ui.dataTree-addTopLevelItem(cloudName);total_points mycloud.cloud-points.size();}ui.statusBar-showMessage();showPointcloudAdd();setPropertyTable();
}// Open point cloud
void CloudViewer::open() {std::cout test_ std::endl;QStringList filePathList QFileDialog::getOpenFileNames(this,tr(Open point cloud file),toQString(mycloud.fileDir),toQString(fileIO.getInputFormatsStr()));if (filePathList.isEmpty()) return;// Clear cache// TODO: abstract a functionmycloud_vec.clear();total_points 0;ui.dataTree-clear();viewer-removeAllPointClouds();doOpen(filePathList);
}// Add Point Cloud
void CloudViewer::add() {QStringList filePathList QFileDialog::getOpenFileNames(this,tr(Add point cloud file),toQString(mycloud.fileDir),toQString(fileIO.getInputFormatsStr()));if (filePathList.isEmpty()) return;doOpen(filePathList);
}// Clear all point clouds
void CloudViewer::clear() {mycloud_vec.clear(); // 从点云容器中移除所有点云viewer-removeAllPointClouds(); // 从viewer中移除所有点云viewer-removeAllShapes(); // 这个remove更彻底ui.dataTree-clear(); // 将dataTree清空ui.propertyTable-clear(); // 清空属性窗口propertyTableQStringList header;header Property Value;ui.propertyTable-setHorizontalHeaderLabels(header);// 输出窗口consoleLog(Clear, All point clouds, , );setWindowTitle(CloudViewer); // 更新窗口标题showPointcloud(); // 更新显示
}// Save point cloud
void CloudViewer::save() {if (!mycloud.isValid) {QMessageBox::critical(this, tr(Saving file error),tr(There is no point cloud to save));return;}// get binary flag from sender()QAction* action qobject_castQAction*(sender());QVariant v action-data();bool isSaveBinary (bool)v.valuebool();QString selectedFilter toQString(fileIO.outputFiltersMap.at(mycloud.fileSuffix));QString saveFilePath QFileDialog::getSaveFileName(this, // parenttoQString(Save point cloud string(isSaveBinary ? (binary) : )), // captiontoQString(mycloud.filePath), // dirtoQString(fileIO.getOutputFormatsStr()), // filterselectedFilter // selected filter);if (saveFilePath.isEmpty()) return;QFileInfo fileInfo(saveFilePath);QString saveFileName fileInfo.fileName();string saveFilePathStd fromQString(saveFilePath);string saveFileNameStd fromQString(saveFileName);if (mycloud_vec.size() 1) {savemulti(fileInfo, isSaveBinary);return;}bool saveStatus fileIO.save(mycloud, fileInfo, isSaveBinary);if (!saveStatus) {QMessageBox::critical(this, tr(Saving file error),tr(We can not save the file));return;}consoleLog(Save, saveFileName, saveFilePath, Single save);setWindowTitle(saveFilePath - CloudViewer);QMessageBox::information(this, tr(save point cloud file),toQString(Save saveFileNameStd successfully!));
}// Save multi point cloud
void CloudViewer::savemulti(const QFileInfo fileInfo, bool isSaveBinary) {string subname fromQString(fileInfo.fileName());QString saveFilePath fileInfo.filePath();PointCloudT::Ptr multi_cloud;multi_cloud.reset(new PointCloudT);multi_cloud-height 1;int sum 0;for (auto c : mycloud_vec) {sum c.cloud-points.size();}multi_cloud-width sum;multi_cloud-resize(multi_cloud-height * multi_cloud-width);int k 0;for (int i 0; i ! mycloud_vec.size(); i) {// 注意cloudvec[i]-points.size()和cloudvec[i]-size()的区别for (int j 0; j ! mycloud_vec[i].cloud-points.size(); j) {multi_cloud-points[k].x mycloud_vec[i].cloud-points[j].x;multi_cloud-points[k].y mycloud_vec[i].cloud-points[j].y;multi_cloud-points[k].z mycloud_vec[i].cloud-points[j].z;multi_cloud-points[k].r mycloud_vec[i].cloud-points[j].r;multi_cloud-points[k].g mycloud_vec[i].cloud-points[j].g;multi_cloud-points[k].b mycloud_vec[i].cloud-points[j].b;k;}}MyCloud multiMyCloud;multiMyCloud.cloud multi_cloud;multiMyCloud.isValid true;// save multi_cloudbool saveStatus fileIO.save(multiMyCloud, fileInfo, isSaveBinary);if (!saveStatus) {QMessageBox::critical(this, tr(Saving file error),tr(We can not save the file));return;}if (isSaveBinary) {consoleLog(Save as binary, QString::fromLocal8Bit(subname.c_str()), saveFilePath, Multi save (binary));}else {consoleLog(Save, QString::fromLocal8Bit(subname.c_str()), saveFilePath, Multi save);}// 将保存后的 multi_cloud 设置为当前 mycloud,以便保存之后直接进行操作mycloud.cloud multi_cloud;mycloud.filePath fromQString(saveFilePath);mycloud.fileName subname;setWindowTitle(saveFilePath - CloudViewer);QMessageBox::information(this, tr(save point cloud file), toQString(Save subname successfully!));
}// 退出程序
void CloudViewer::exit() {this-close();
}// Generate cube
void CloudViewer::cube() {mycloud.cloud.reset(new PointCloudT);total_points 0;ui.dataTree-clear(); // 清空资源管理器的itemviewer-removeAllPointClouds(); // 从viewer中移除所有点云mycloud_vec.clear(); // 清空点云容器mycloud.cloud-width 50000; // 设置点云宽mycloud.cloud-height 1; // 设置点云高高为1说明为无组织点云mycloud.cloud-is_dense false;mycloud.cloud-resize(mycloud.cloud-width * mycloud.cloud-height); // 重置点云大小for (size_t i 0; i ! mycloud.cloud-size(); i){mycloud.cloud-points[i].x 1024 * rand() / (RAND_MAX 1.0f);mycloud.cloud-points[i].y 1024 * rand() / (RAND_MAX 1.0f);mycloud.cloud-points[i].z 1024 * rand() / (RAND_MAX 1.0f);mycloud.cloud-points[i].r red;mycloud.cloud-points[i].g green;mycloud.cloud-points[i].b blue;}// 设置资源管理器QTreeWidgetItem* cloudName new QTreeWidgetItem(QStringList() QString::fromLocal8Bit(cube));cloudName-setIcon(0, QIcon(:/Resources/images/icon.png));ui.dataTree-addTopLevelItem(cloudName);// 输出窗口consoleLog(Generate cube, cube, cube, );mycloud_vec.push_back(mycloud);showPointcloudAdd();
}// 初始化
void CloudViewer::initial() {// 界面初始化setWindowIcon(QIcon(tr(:/Resources/images/icon.png)));setWindowTitle(tr(CloudViewer));// 点云初始化mycloud.cloud.reset(new PointCloudT);mycloud.cloud-resize(1);viewer.reset(new pcl::visualization::PCLVisualizer(viewer, false));// viewer-addPointCloud(cloud, cloud);ui.screen-SetRenderWindow(viewer-getRenderWindow());viewer-setupInteractor(ui.screen-GetInteractor(), ui.screen-GetRenderWindow());ui.screen-update();ui.propertyTable-setSelectionMode(QAbstractItemView::NoSelection); // 禁止点击属性管理器的 itemui.consoleTable-setSelectionMode(QAbstractItemView::NoSelection); // 禁止点击输出窗口的 itemui.dataTree-setSelectionMode(QAbstractItemView::ExtendedSelection); // 允许 dataTree 进行多选// 设置默认主题QString qss darcula_qss;qApp-setStyleSheet(qss);setPropertyTable();setConsoleTable();// 输出窗口consoleLog(Software start, CloudViewer, Welcome to use CloudViewer, Nightn);// 设置背景颜色为 darkviewer-setBackgroundColor(30 / 255.0, 30 / 255.0, 30 / 255.0);}// 显示点云不重置相机角度
void CloudViewer::showPointcloud() {for (int i 0; i ! mycloud_vec.size(); i){viewer-updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);}// viewer-resetCamera();ui.screen-update();
}// 添加点云到viewer,并显示点云
void CloudViewer::showPointcloudAdd() {for (int i 0; i ! mycloud_vec.size(); i) {viewer-addPointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);viewer-updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);}viewer-resetCamera();ui.screen-update();
}void CloudViewer::setCloudColor(unsigned int r, unsigned int g, unsigned int b) {// Set the new colorfor (size_t i 0; i mycloud.cloud-size(); i) {mycloud.cloud-points[i].r r;mycloud.cloud-points[i].g g;mycloud.cloud-points[i].b b;mycloud.cloud-points[i].a 255;}
}// 关于
void CloudViewer::about() {AboutWin* aboutwin new AboutWin(this);aboutwin-setModal(true);aboutwin-show();consoleLog(About, Nightn, http://nightn.github.io, Welcome to my blog!);
}// 帮助
void CloudViewer::help() {QDesktopServices::openUrl(QUrl(QLatin1String(http://nightn.github.io/cloudviewer)));consoleLog(Help, Cloudviewer help, http://nightn.github.io/cloudviewer, );
}// 绘制基本图形
void CloudViewer::createSphere() {mycloud.cloud.reset(new PointCloudT);ui.dataTree-clear(); // 清空资源管理器的itemviewer-removeAllShapes();mycloud_vec.clear(); // 清空点云容器pcl::PointXYZ p;p.x 0; p.y 0; p.z 0;viewer-addSphere(p, 100, sphere1);viewer-resetCamera();ui.screen-update();// 输出窗口consoleLog(Create sphere, Sphere, , Succeeded);
}void CloudViewer::createCylinder() {mycloud.cloud.reset(new PointCloudT);ui.dataTree-clear(); // 清空资源管理器的itemviewer-removeAllShapes();mycloud_vec.clear(); // 清空点云容器viewer-addCylinder(*(new pcl::ModelCoefficients()), cylinder);viewer-resetCamera();ui.screen-update();// 输出窗口consoleLog(Create cylinder, Cylinder, , Failed);}// Change theme: Windows/Darcula
void CloudViewer::changeTheme() {QAction* action qobject_castQAction*(sender());QVariant v action-data();int theme (int)v.valueint();QColor colorLight(241, 241, 241, 255);QColor colorDark(0, 0, 0, 255);QString qss;switch (theme) {case CLOUDVIEWER_THEME_WINDOWS: {qss windows_qss;for (int i 0; i ! mycloud_vec.size(); i) {if (ui.dataTree-topLevelItem(i)-textColor(0) colorLight) {ui.dataTree-topLevelItem(i)-setTextColor(0, colorDark);}}theme_id 0;consoleLog(Change theme, Windows theme, , );break;}case CLOUDVIEWER_THEME_DARCULA: {qss darcula_qss;for (int i 0; i ! mycloud_vec.size(); i) {if (ui.dataTree-topLevelItem(i)-textColor(0) colorDark) {ui.dataTree-topLevelItem(i)-setTextColor(0, colorLight);}}consoleLog(Change theme, Darcula theme, , );theme_id 1;break;}}qApp-setStyleSheet(qss);
}// Change language: English/Chinese
void CloudViewer::changeLanguage() {QAction* action qobject_castQAction*(sender());QVariant v action-data();int language (int)v.valueint();switch (language) {case CLOUDVIEWER_LANG_ENGLISH: {consoleLog(Change language, English, , );break;}case CLOUDVIEWER_LANG_CHINESE: {consoleLog(Change language, Chinese, Doesnt support Chinese temporarily, );break;}}
}/*********************************************/
/*****************界面槽函数*****************/
/********************************************/
void CloudViewer::colorBtnPressed() {QListQTreeWidgetItem* itemList ui.dataTree-selectedItems();int selected_item_count ui.dataTree-selectedItems().size();// 如果未选中任何点云则对视图窗口中的所有点云进行着色if (selected_item_count 0) {for (int i 0; i ! mycloud_vec.size(); i) {for (int j 0; j ! mycloud_vec[i].cloud-points.size(); j) {mycloud_vec[i].cloud-points[j].r 255 * (1024 * rand() / (RAND_MAX 1.0f));mycloud_vec[i].cloud-points[j].g 255 * (1024 * rand() / (RAND_MAX 1.0f));mycloud_vec[i].cloud-points[j].b 255 * (1024 * rand() / (RAND_MAX 1.0f));}}// 输出窗口consoleLog(Random color, All point clous, , );}else {for (int i 0; i ! selected_item_count; i) {int cloud_id ui.dataTree-indexOfTopLevelItem(itemList[i]);for (int j 0; j ! mycloud_vec[cloud_id].cloud-size(); j) {mycloud_vec[cloud_id].cloud-points[j].r red;mycloud_vec[cloud_id].cloud-points[j].g 255 * (1024 * rand() / (RAND_MAX 1.0f));mycloud_vec[cloud_id].cloud-points[j].b 255 * (1024 * rand() / (RAND_MAX 1.0f));}}// 输出窗口consoleLog(Random color, Point clouds selected, , );}showPointcloud();
}void CloudViewer::RGBsliderReleased() {QListQTreeWidgetItem* itemList ui.dataTree-selectedItems();int selected_item_count ui.dataTree-selectedItems().size();// 如果未选中任何点云则对视图窗口中的所有点云进行着色if (selected_item_count 0) {for (int i 0; i ! mycloud_vec.size(); i) {mycloud_vec[i].setPointColor(red, green, blue);}// 输出窗口consoleLog(Change cloud color, All point clouds, QString::number(red) QString::number(green) QString::number(blue), );}else {for (int i 0; i ! selected_item_count; i) {int cloud_id ui.dataTree-indexOfTopLevelItem(itemList[i]);mycloud_vec[cloud_id].setPointColor(red, green, blue);}// 输出窗口consoleLog(Change cloud color, Point clouds selected, QString::number(red) QString::number(green) QString::number(blue), );}showPointcloud();
}// 设置所有点云的尺寸void CloudViewer::psliderReleased() {std::cout test_ std::endl;int intValue ui.sizeLCD-intValue();QListQTreeWidgetItem* itemList ui.dataTree-selectedItems();int selected_item_count ui.dataTree-selectedItems().size();if (selected_item_count 0) {for (int i 0; i ! mycloud_vec.size(); i) {viewer-setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,p, mycloud_vec[i].cloudId);}// 输出窗口consoleLog(Change cloud size, All point clouds, Size: QString::number(p), );}else {for (int i 0; i ! selected_item_count; i) {int cloud_id ui.dataTree-indexOfTopLevelItem(itemList[i]);viewer-setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,p, mycloud_vec[i].cloudId);}// 输出窗口consoleLog(Change cloud size, Point clouds selected, Size: QString::number(p), );}ui.screen-update();
}void CloudViewer::pSliderChanged(int value) {std::cout test_ std::endl;p value;ui.sizeLCD-display(value);}void CloudViewer::rSliderChanged(int value) {red value;ui.rLCD-display(value);
}void CloudViewer::gSliderChanged(int value) {green value;ui.gLCD-display(value);
}void CloudViewer::bSliderChanged(int value) {blue value;ui.bLCD-display(value);
}void CloudViewer::cooCbxChecked(int value) {switch (value) {case 0: {viewer-removeCoordinateSystem();consoleLog(Remove coordinate system, Remove, , );break;}case 2: {viewer-addCoordinateSystem();consoleLog(Add coordinate system, Add, , );break;}}ui.screen-update();
}void CloudViewer::bgcCbxChecked(int value) {switch (value) {case 0: {viewer-setBackgroundColor(30 / 255.0, 30 / 255.0, 30 / 255.0);consoleLog(Change bg color, Background, 30 30 30, );break;}case 2: {// 注意setBackgroundColor()接收的是0-1的double型参数viewer-setBackgroundColor(240 / 255.0, 240 / 255.0, 240 / 255.0);consoleLog(Change bg color, Background, 240 240 240, );break;}}ui.screen-update();
}// 通过颜色对话框改变点云颜色
void CloudViewer::pointcolorChanged() {QColor color QColorDialog::getColor(Qt::white, this, Select color for point cloud);if (color.isValid()) {// QAction* action dynamic_castQAction*(sender());// if (action ! ui.pointcolorAction) // 改变颜色的信号来自于 dataTreeQListQTreeWidgetItem* itemList ui.dataTree-selectedItems();int selected_item_count ui.dataTree-selectedItems().size();if (selected_item_count 0) {for (int i 0; i ! mycloud_vec.size(); i) {mycloud_vec[i].setPointColor(color.red(), color.green(), color.blue());}// 输出窗口consoleLog(Change cloud color, All point clouds, QString::number(color.red()) QString::number(color.green()) QString::number(color.blue()), );}else {for (int i 0; i ! selected_item_count; i) {int cloud_id ui.dataTree-indexOfTopLevelItem(itemList[i]);mycloud_vec[cloud_id].setPointColor(color.red(), color.green(), color.blue());}// 输出窗口consoleLog(Change cloud color, Point clouds selected, QString::number(color.red()) QString::number(color.green()) QString::number(color.blue()), );}// 颜色的改变同步至RGB停靠窗口ui.rSlider-setValue(color.red());ui.gSlider-setValue(color.green());ui.bSlider-setValue(color.blue());showPointcloud();}
}// 通过颜色对话框改变背景颜色
void CloudViewer::bgcolorChanged() {QColor color QColorDialog::getColor(Qt::white, this,Select color for point cloud);if (color.isValid()) {viewer-setBackgroundColor(color.red() / 255.0,color.green() / 255.0, color.blue() / 255.0);// 输出窗口consoleLog(Change bg color, Background, QString::number(color.red()) QString::number(color.green()) QString::number(color.blue()), );showPointcloud();}
}// 三视图
void CloudViewer::mainview() {viewer-setCameraPosition(0, -1, 0, 0.5, 0.5, 0.5, 0, 0, 1);ui.screen-update();
}void CloudViewer::leftview() {viewer-setCameraPosition(-1, 0, 0, 0, 0, 0, 0, 0, 1);ui.screen-update();
}void CloudViewer::topview() {viewer-setCameraPosition(0, 0, 1, 0, 0, 0, 0, 1, 0);ui.screen-update();
}// 设置属性管理窗口
void CloudViewer::setPropertyTable() {QStringList header;header Property Value;ui.propertyTable-setHorizontalHeaderLabels(header);ui.propertyTable-setItem(0, 0, new QTableWidgetItem(Clouds));ui.propertyTable-setItem(0, 1, new QTableWidgetItem(QString::number(mycloud_vec.size())));ui.propertyTable-setItem(1, 0, new QTableWidgetItem(Points));ui.propertyTable-setItem(1, 1, new QTableWidgetItem());ui.propertyTable-setItem(2, 0, new QTableWidgetItem(Faces));ui.propertyTable-setItem(2, 1, new QTableWidgetItem());ui.propertyTable-setItem(3, 0, new QTableWidgetItem(Total points));ui.propertyTable-setItem(3, 1, new QTableWidgetItem(QString::number(total_points)));ui.propertyTable-setItem(4, 0, new QTableWidgetItem(RGB));ui.propertyTable-setItem(4, 1, new QTableWidgetItem());}void CloudViewer::setConsoleTable() {// 设置输出窗口QStringList header2;header2 Time Operation Operation object Details Note;ui.consoleTable-setHorizontalHeaderLabels(header2);ui.consoleTable-setColumnWidth(0, 150);ui.consoleTable-setColumnWidth(1, 200);ui.consoleTable-setColumnWidth(2, 200);ui.consoleTable-setColumnWidth(3, 300);// ui.consoleTable-setEditTriggers(QAbstractItemView::NoEditTriggers); // 设置不可编辑ui.consoleTable-verticalHeader()-setDefaultSectionSize(22); // 设置行距ui.consoleTable-setContextMenuPolicy(Qt::CustomContextMenu);}void CloudViewer::consoleLog(QString operation, QString subname, QString filename, QString note) {if (enable_console false) {return;}int rows ui.consoleTable-rowCount();ui.consoleTable-setRowCount(rows);QDateTime time QDateTime::currentDateTime(); // 获取系统现在的时间QString time_str time.toString(MM-dd hh:mm:ss); // 设置显示格式ui.consoleTable-setItem(rows - 1, 0, new QTableWidgetItem(time_str));ui.consoleTable-setItem(rows - 1, 1, new QTableWidgetItem(operation));ui.consoleTable-setItem(rows - 1, 2, new QTableWidgetItem(subname));ui.consoleTable-setItem(rows - 1, 3, new QTableWidgetItem(filename));ui.consoleTable-setItem(rows - 1, 4, new QTableWidgetItem(note));ui.consoleTable-scrollToBottom(); // 滑动自动滚到最底部
}// QTreeWidget的item的点击相应函数
void CloudViewer::itemSelected(QTreeWidgetItem* item, int count) {count ui.dataTree-indexOfTopLevelItem(item); // 获取item的行号for (int i 0; i ! mycloud_vec.size(); i){viewer-updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);viewer-setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, mycloud_vec[i].cloudId);}// 提取当前点云的RGB,点云数量等信息int cloud_size mycloud_vec[count].cloud-points.size();unsigned int cloud_r mycloud_vec[count].cloud-points[0].r;unsigned int cloud_g mycloud_vec[count].cloud-points[0].g;unsigned int cloud_b mycloud_vec[count].cloud-points[0].b;bool multi_color true;if (mycloud_vec[count].cloud-points.begin()-r (mycloud_vec[count].cloud-points.end() - 1)-r) // 判断点云单色多色的条件不是很严谨multi_color false;ui.propertyTable-setItem(0, 1, new QTableWidgetItem(QString::number(mycloud_vec.size())));ui.propertyTable-setItem(1, 1, new QTableWidgetItem(QString::number(cloud_size)));int faces mycloud_vec[count].meshId.size() ! 0 ? mycloud_vec[count].mesh-polygons.size() : 0;ui.propertyTable-setItem(2, 1, new QTableWidgetItem(QString::number(faces)));ui.propertyTable-setItem(3, 1, new QTableWidgetItem(QString::number(total_points)));ui.propertyTable-setItem(4, 1, new QTableWidgetItem(multi_color ? Multi Color : (QString::number(cloud_r) QString::number(cloud_g) QString::number(cloud_b))));// 选中item所对应的点云尺寸变大QListQTreeWidgetItem* itemList ui.dataTree-selectedItems();int selected_item_count ui.dataTree-selectedItems().size();for (int i 0; i ! selected_item_count; i) {int cloud_id ui.dataTree-indexOfTopLevelItem(itemList[i]);viewer-setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,2, mycloud_vec[i].cloudId);}// mycloud mycloud_vec[count];ui.screen-update();
}// consoleTable 右击响应事件
void CloudViewer::popMenuInConsole(const QPoint) {QAction clearConsoleAction(Clear console, this);QAction enableConsoleAction(Enable console, this);QAction disableConsoleAction(Disable console, this);connect(clearConsoleAction, QAction::triggered, this, CloudViewer::clearConsole);connect(enableConsoleAction, QAction::triggered, this, CloudViewer::enableConsole);connect(disableConsoleAction, QAction::triggered, this, CloudViewer::disableConsole);QPoint pos;QMenu menu(ui.dataTree);menu.addAction(clearConsoleAction);menu.addAction(enableConsoleAction);menu.addAction(disableConsoleAction);if (enable_console true) {menu.actions()[1]-setVisible(false);menu.actions()[2]-setVisible(true);}else {menu.actions()[1]-setVisible(true);menu.actions()[2]-setVisible(false);}menu.exec(QCursor::pos()); // 在当前鼠标位置显示
}// 清空 consoleTable
void CloudViewer::clearConsole() {ui.consoleTable-clearContents();ui.consoleTable-setRowCount(0);
}// 允许使用 consoleTable
void CloudViewer::enableConsole() {enable_console true;
}// 禁用 consoleTable
void CloudViewer::disableConsole() {clearConsole();enable_console false;}
3. 运行结果
三、在线协助 如需安装运行环境或远程调试见文章底部个人 QQ 名片由专业技术人员远程协助 1远程安装运行环境代码调试 2Qt, C, Python入门指导 3界面美化 4软件制作 当前文章连接PythonQt桌面端与网页端人工客服沟通工具_alicema1111的博客-CSDN博客
博主推荐文章python人脸识别统计人数qt窗体-CSDN博客
博主推荐文章Python Yolov5火焰烟雾识别源码分享-CSDN博客 Python OpenCV识别行人入口进出人数统计_python识别人数-CSDN博客
个人博客主页alicema1111的博客_CSDN博客-Python,C,网页领域博主
博主所有文章点这里alicema1111的博客_CSDN博客-Python,C,网页领域博主
